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<div class="title">texture_mapping.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_IMPL_TEXTURE_MAPPING_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SURFACE_IMPL_TEXTURE_MAPPING_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2distances_8h.html">pcl/common/distances.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/texture_mapping.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt;</div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#ab39c3bef6cc6df60c12e295da9d1a3f7">   46</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#ab39c3bef6cc6df60c12e295da9d1a3f7">pcl::TextureMapping&lt;PointInT&gt;::mapTexture2Face</a> (</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f &amp;p1, </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f &amp;p2, </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f &amp;p3)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; tex_coordinates;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// process for each face</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  Eigen::Vector3f p1p2 (p2[0] - p1[0], p2[1] - p1[1], p2[2] - p1[2]);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  Eigen::Vector3f p1p3 (p3[0] - p1[0], p3[1] - p1[1], p3[2] - p1[2]);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  Eigen::Vector3f p2p3 (p3[0] - p2[0], p3[1] - p2[1], p3[2] - p2[2]);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">// Normalize</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  p1p2 = p1p2 / std::sqrt (p1p2.dot (p1p2));</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  p1p3 = p1p3 / std::sqrt (p1p3.dot (p1p3));</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  p2p3 = p2p3 / std::sqrt (p2p3.dot (p2p3));</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">// compute vector normal of a face</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  Eigen::Vector3f f_normal = p1p2.cross (p1p3);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  f_normal = f_normal / std::sqrt (f_normal.dot (f_normal));</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// project vector field onto the face: vector v1_projected = v1 - Dot(v1, n) * n;</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  Eigen::Vector3f f_vector_field = vector_field_ - vector_field_.dot (f_normal) * f_normal;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="comment">// Normalize</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  f_vector_field = f_vector_field / std::sqrt (f_vector_field.dot (f_vector_field));</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// texture coordinates</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  Eigen::Vector2f tp1, tp2, tp3;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">double</span> alpha = std::acos (f_vector_field.dot (p1p2));</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// distance between 3 vertices of triangles</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">double</span> e1 = (p2 - p3).norm () / f_;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">double</span> e2 = (p1 - p3).norm () / f_;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">double</span> e3 = (p1 - p2).norm () / f_;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="comment">// initialize</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  tp1[0] = 0.0;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  tp1[1] = 0.0;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  tp2[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (e3);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  tp2[1] = 0.0;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">// determine texture coordinate tp3;</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">double</span> cos_p1 = (e2 * e2 + e3 * e3 - e1 * e1) / (2 * e2 * e3);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">double</span> sin_p1 = sqrt (1 - (cos_p1 * cos_p1));</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  tp3[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (cos_p1 * e2);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  tp3[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sin_p1 * e2);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="comment">// rotating by alpha (angle between V and pp1 &amp; pp2)</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  Eigen::Vector2f r_tp2, r_tp3;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  r_tp2[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (tp2[0] * std::cos (alpha) - tp2[1] * std::sin (alpha));</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  r_tp2[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (tp2[0] * std::sin (alpha) + tp2[1] * std::cos (alpha));</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  r_tp3[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (tp3[0] * std::cos (alpha) - tp3[1] * std::sin (alpha));</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  r_tp3[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (tp3[0] * std::sin (alpha) + tp3[1] * std::cos (alpha));</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">// shifting</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  tp1[0] = tp1[0];</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  tp2[0] = r_tp2[0];</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  tp3[0] = r_tp3[0];</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  tp1[1] = tp1[1];</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  tp2[1] = r_tp2[1];</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  tp3[1] = r_tp3[1];</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">float</span> min_x = tp1[0];</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordtype">float</span> min_y = tp1[1];</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">if</span> (min_x &gt; tp2[0])</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    min_x = tp2[0];</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">if</span> (min_x &gt; tp3[0])</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    min_x = tp3[0];</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordflow">if</span> (min_y &gt; tp2[1])</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    min_y = tp2[1];</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> (min_y &gt; tp3[1])</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    min_y = tp3[1];</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordflow">if</span> (min_x &lt; 0)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    tp1[0] = tp1[0] - min_x;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    tp2[0] = tp2[0] - min_x;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    tp3[0] = tp3[0] - min_x;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordflow">if</span> (min_y &lt; 0)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    tp1[1] = tp1[1] - min_y;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    tp2[1] = tp2[1] - min_y;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    tp3[1] = tp3[1] - min_y;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  tex_coordinates.push_back (tp1);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  tex_coordinates.push_back (tp2);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  tex_coordinates.push_back (tp3);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">return</span> (tex_coordinates);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;}</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a2dfb6a986d530ec88fecd432cfeac159">  144</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a2dfb6a986d530ec88fecd432cfeac159">pcl::TextureMapping&lt;PointInT&gt;::mapTexture2Mesh</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;{</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="comment">// mesh information</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordtype">int</span> nr_points = tex_mesh.cloud.width * tex_mesh.cloud.height;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordtype">int</span> point_size = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (tex_mesh.cloud.data.size ()) / nr_points;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="comment">// temporary PointXYZ</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordtype">float</span> x, y, z;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="comment">// temporary face</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  Eigen::Vector3f facet[3];</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="comment">// texture coordinates for each mesh</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt;texture_map;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> m = 0; m &lt; tex_mesh.tex_polygons.size (); ++m)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="comment">// texture coordinates for each mesh</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; texture_map_tmp;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="comment">// processing for each face</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; tex_mesh.tex_polygons[m].size (); ++i)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">size_t</span> idx;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="comment">// get facet information</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; tex_mesh.tex_polygons[m][i].vertices.size (); ++j)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        idx = tex_mesh.tex_polygons[m][i].vertices[j];</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        memcpy (&amp;x, &amp;tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[0].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        memcpy (&amp;y, &amp;tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[1].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        memcpy (&amp;z, &amp;tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[2].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        facet[j][0] = x;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        facet[j][1] = y;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        facet[j][2] = z;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="comment">// get texture coordinates of each face</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; tex_coordinates = mapTexture2Face (facet[0], facet[1], facet[2]);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> n = 0; n &lt; tex_coordinates.size (); ++n)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        texture_map_tmp.push_back (tex_coordinates[n]);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    }<span class="comment">// end faces</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// texture materials</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    std::stringstream tex_name;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    tex_name &lt;&lt; <span class="stringliteral">&quot;material_&quot;</span> &lt;&lt; m;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    tex_name &gt;&gt; tex_material_.tex_name;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    tex_material_.tex_file = tex_files_[m];</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    tex_mesh.tex_materials.push_back (tex_material_);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">// texture coordinates</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    tex_mesh.tex_coordinates.push_back (texture_map_tmp);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  }<span class="comment">// end meshes</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;}</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a24745f8647a7442647ba6be0a89abae0">  200</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a24745f8647a7442647ba6be0a89abae0">pcl::TextureMapping&lt;PointInT&gt;::mapTexture2MeshUV</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;{</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="comment">// mesh information</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordtype">int</span> nr_points = tex_mesh.cloud.width * tex_mesh.cloud.height;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="keywordtype">int</span> point_size = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (tex_mesh.cloud.data.size ()) / nr_points;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keywordtype">float</span> x_lowest = 100000;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordtype">float</span> x_highest = 0;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordtype">float</span> y_lowest = 100000;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="comment">//float y_highest = 0 ;</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordtype">float</span> z_lowest = 100000;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="keywordtype">float</span> z_highest = 0;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordtype">float</span> x_, y_, z_;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    memcpy (&amp;x_, &amp;tex_mesh.cloud.data[i * point_size + tex_mesh.cloud.fields[0].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    memcpy (&amp;y_, &amp;tex_mesh.cloud.data[i * point_size + tex_mesh.cloud.fields[1].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    memcpy (&amp;z_, &amp;tex_mesh.cloud.data[i * point_size + tex_mesh.cloud.fields[2].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">// x</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordflow">if</span> (x_ &lt;= x_lowest)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      x_lowest = x_;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordflow">if</span> (x_ &gt; x_lowest)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      x_highest = x_;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="comment">// y</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">if</span> (y_ &lt;= y_lowest)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      y_lowest = y_;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="comment">//if (y_ &gt; y_lowest) y_highest = y_;</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="comment">// z</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">if</span> (z_ &lt;= z_lowest)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      z_lowest = z_;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">if</span> (z_ &gt; z_lowest)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      z_highest = z_;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">// x</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordtype">float</span> x_range = (x_lowest - x_highest) * -1;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordtype">float</span> x_offset = 0 - x_lowest;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="comment">// x</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="comment">// float y_range = (y_lowest - y_highest)*-1;</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="comment">// float y_offset = 0 - y_lowest;</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="comment">// z</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordtype">float</span> z_range = (z_lowest - z_highest) * -1;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keywordtype">float</span> z_offset = 0 - z_lowest;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="comment">// texture coordinates for each mesh</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt;texture_map;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> m = 0; m &lt; tex_mesh.tex_polygons.size (); ++m)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="comment">// texture coordinates for each mesh</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; texture_map_tmp;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">// processing for each face</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; tex_mesh.tex_polygons[m].size (); ++i)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    {</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordtype">size_t</span> idx;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      Eigen::Vector2f tmp_VT;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; tex_mesh.tex_polygons[m][i].vertices.size (); ++j)</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        idx = tex_mesh.tex_polygons[m][i].vertices[j];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        memcpy (&amp;x_, &amp;tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[0].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        memcpy (&amp;y_, &amp;tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[1].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        memcpy (&amp;z_, &amp;tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[2].offset], <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        <span class="comment">// calculate uv coordinates</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        tmp_VT[0] = (x_ + x_offset) / x_range;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        tmp_VT[1] = (z_ + z_offset) / z_range;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        texture_map_tmp.push_back (tmp_VT);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    }<span class="comment">// end faces</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="comment">// texture materials</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    std::stringstream tex_name;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    tex_name &lt;&lt; <span class="stringliteral">&quot;material_&quot;</span> &lt;&lt; m;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    tex_name &gt;&gt; tex_material_.tex_name;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    tex_material_.tex_file = tex_files_[m];</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    tex_mesh.tex_materials.push_back (tex_material_);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="comment">// texture coordinates</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    tex_mesh.tex_coordinates.push_back (texture_map_tmp);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }<span class="comment">// end meshes</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;}</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#ae6e358a02f339cbf136db601bbdafc1d">  287</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#ae6e358a02f339cbf136db601bbdafc1d">pcl::TextureMapping&lt;PointInT&gt;::mapMultipleTexturesToMeshUV</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, pcl::texture_mapping::CameraVector &amp;cams)</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;{</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keywordflow">if</span> (tex_mesh.tex_polygons.size () != cams.size () + 1)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The mesh should be divided into nbCamera+1 sub-meshes.\n&quot;</span>);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;You provided %d cameras and a mesh containing %d sub-meshes.\n&quot;</span>, cams.size (), tex_mesh.tex_polygons.size ());</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;You provided %d  cameras and a mesh containing %d sub-meshes.\n&quot;</span>, cams.size (), tex_mesh.tex_polygons.size ());</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr originalCloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr camera_transformed_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="comment">// convert mesh&#39;s cloud to pcl format for ease</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  pcl::fromPCLPointCloud2 (tex_mesh.cloud, *originalCloud);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="comment">// texture coordinates for each mesh</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  std::vector&lt;std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; &gt; texture_map;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> m = 0; m &lt; cams.size (); ++m)</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  {</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="comment">// get current camera parameters</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a> current_cam = cams[m];</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="comment">// get camera transform</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    Eigen::Affine3f cam_trans = current_cam.pose;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="comment">// transform cloud into current camera frame</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (*originalCloud, *camera_transformed_cloud, cam_trans.inverse ());</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="comment">// vector of texture coordinates for each face</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; texture_map_tmp;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="comment">// processing each face visible by this camera</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    PointInT pt;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keywordtype">size_t</span> idx;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; tex_mesh.tex_polygons[m].size (); ++i)</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    {</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      Eigen::Vector2f tmp_VT;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="comment">// for each point of this face</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; tex_mesh.tex_polygons[m][i].vertices.size (); ++j)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      {</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="comment">// get point</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        idx = tex_mesh.tex_polygons[m][i].vertices[j];</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        pt = camera_transformed_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx];</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="comment">// compute UV coordinates for this point</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        getPointUVCoordinates (pt, current_cam, tmp_VT);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        texture_map_tmp.push_back (tmp_VT);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      }<span class="comment">// end points</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    }<span class="comment">// end faces</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="comment">// texture materials</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    std::stringstream tex_name;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    tex_name &lt;&lt; <span class="stringliteral">&quot;material_&quot;</span> &lt;&lt; m;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    tex_name &gt;&gt; tex_material_.tex_name;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    tex_material_.tex_file = current_cam.texture_file;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    tex_mesh.tex_materials.push_back (tex_material_);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="comment">// texture coordinates</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    tex_mesh.tex_coordinates.push_back (texture_map_tmp);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  }<span class="comment">// end cameras</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  <span class="comment">// push on extra empty UV map (for unseen faces) so that obj writer does not crash!</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; texture_map_tmp;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; tex_mesh.tex_polygons[cams.size ()].size (); ++i)</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; tex_mesh.tex_polygons[cams.size ()][i].vertices.size (); ++j)</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    {</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      Eigen::Vector2f tmp_VT;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      tmp_VT[0] = -1;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      tmp_VT[1] = -1;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      texture_map_tmp.push_back (tmp_VT);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  tex_mesh.tex_coordinates.push_back (texture_map_tmp);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  <span class="comment">// push on an extra dummy material for the same reason</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  std::stringstream tex_name;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  tex_name &lt;&lt; <span class="stringliteral">&quot;material_&quot;</span> &lt;&lt; cams.size ();</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  tex_name &gt;&gt; tex_material_.tex_name;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  tex_material_.tex_file = <span class="stringliteral">&quot;occluded.jpg&quot;</span>;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  tex_mesh.tex_materials.push_back (tex_material_);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;}</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a668faabadd56405940c58e37f30e357f">  377</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a668faabadd56405940c58e37f30e357f">pcl::TextureMapping&lt;PointInT&gt;::isPointOccluded</a> (<span class="keyword">const</span> PointInT &amp;pt, OctreePtr octree)</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;{</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  Eigen::Vector3f direction;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  direction (0) = pt.x;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  direction (1) = pt.y;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  direction (2) = pt.z;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  PointCloudConstPtr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>());</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  cloud = octree-&gt;getInputCloud();</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="keywordtype">double</span> distance_threshold = octree-&gt;getResolution();</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  <span class="comment">// raytrace</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  octree-&gt;getIntersectedVoxelIndices(direction, -direction, indices);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="keywordtype">int</span> nbocc = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; indices.size (); j++)</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  {</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;   <span class="comment">// if intersected point is on the over side of the camera</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;   <span class="keywordflow">if</span> (pt.z * cloud-&gt;points[indices[j]].z &lt; 0)</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;   {</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;     nbocc--;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;     <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;   }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;   <span class="keywordflow">if</span> (fabs (cloud-&gt;points[indices[j]].z - pt.z) &lt;= distance_threshold)</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;   {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;     <span class="comment">// points are very close to each-other, we do not consider the occlusion</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;     nbocc--;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;   }</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="keywordflow">if</span> (nbocc == 0)</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;   <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;   <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;}</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00419"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">  419</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">pcl::TextureMapping&lt;PointInT&gt;::removeOccludedPoints</a> (<span class="keyword">const</span> PointCloudPtr &amp;input_cloud,</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;                                                     PointCloudPtr &amp;filtered_cloud,</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;                                                     <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size, std::vector&lt;int&gt; &amp;visible_indices,</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;                                                     std::vector&lt;int&gt; &amp;occluded_indices)</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;{</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  <span class="comment">// variable used to filter occluded points by depth</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <span class="keywordtype">double</span> maxDeltaZ = octree_voxel_size;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="comment">// create an octree to perform rayTracing</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  OctreePtr octree (<span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">Octree</a> (octree_voxel_size));</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <span class="comment">// create octree structure</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  octree-&gt;setInputCloud (input_cloud);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  <span class="comment">// update bounding box automatically</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  octree-&gt;defineBoundingBox ();</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <span class="comment">// add points in the tree</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  octree-&gt;addPointsFromInputCloud ();</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  visible_indices.clear ();</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  <span class="comment">// for each point of the cloud, raycast toward camera and check intersected voxels.</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  Eigen::Vector3f direction;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input_cloud-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  {</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    direction (0) = input_cloud-&gt;points[i].x;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    direction (1) = input_cloud-&gt;points[i].y;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    direction (2) = input_cloud-&gt;points[i].z;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <span class="comment">// if point is not occluded</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    octree-&gt;getIntersectedVoxelIndices (direction, -direction, indices);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    <span class="keywordtype">int</span> nbocc = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; indices.size (); j++)</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    {</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      <span class="comment">// if intersected point is on the over side of the camera</span></div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      <span class="keywordflow">if</span> (input_cloud-&gt;points[i].z * input_cloud-&gt;points[indices[j]].z &lt; 0)</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      {</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        nbocc--;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      }</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      <span class="keywordflow">if</span> (fabs (input_cloud-&gt;points[indices[j]].z - input_cloud-&gt;points[i].z) &lt;= maxDeltaZ)</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      {</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="comment">// points are very close to each-other, we do not consider the occlusion</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        nbocc--;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      }</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    }</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    <span class="keywordflow">if</span> (nbocc == 0)</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    {</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      <span class="comment">// point is added in the filtered mesh</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      filtered_cloud-&gt;points.push_back (input_cloud-&gt;points[i]);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      visible_indices.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i));</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    }</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    {</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      occluded_indices.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i));</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    }</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  }</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;}</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a92eac4246bb64174edd7d8f7512b61bb">  483</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">pcl::TextureMapping&lt;PointInT&gt;::removeOccludedPoints</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;cleaned_mesh, <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size)</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;{</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  <span class="comment">// copy mesh</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  cleaned_mesh = tex_mesh;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr filtered_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  <span class="comment">// load points into a PCL format</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  pcl::fromPCLPointCloud2 (tex_mesh.cloud, *cloud);</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  std::vector&lt;int&gt; visible, occluded;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  removeOccludedPoints (cloud, filtered_cloud, octree_voxel_size, visible, occluded);</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  <span class="comment">// Now that we know which points are visible, let&#39;s iterate over each face.</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  <span class="comment">// if the face has one invisible point =&gt; out!</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> polygons = 0; polygons &lt; cleaned_mesh.tex_polygons.size (); ++polygons)</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  {</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="comment">// remove all faces from cleaned mesh</span></div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    cleaned_mesh.tex_polygons[polygons].clear ();</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    <span class="comment">// iterate over faces</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> faces = 0; faces &lt; tex_mesh.tex_polygons[polygons].size (); ++faces)</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    {</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;      <span class="comment">// check if all the face&#39;s points are visible</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      <span class="keywordtype">bool</span> faceIsVisible = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      std::vector&lt;int&gt;::iterator it;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      <span class="comment">// iterate over face&#39;s vertex</span></div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> points = 0; points &lt; tex_mesh.tex_polygons[polygons][faces].vertices.size (); ++points)</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      {</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        it = find (occluded.begin (), occluded.end (), tex_mesh.tex_polygons[polygons][faces].vertices[points]);</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        <span class="keywordflow">if</span> (it == occluded.end ())</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        {</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;          <span class="comment">// point is not in the occluded vector</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;          <span class="comment">// PCL_INFO (&quot;  VISIBLE!\n&quot;);</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        }</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;        {</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;          <span class="comment">// point was occluded</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;          <span class="comment">// PCL_INFO(&quot;  OCCLUDED!\n&quot;);</span></div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;          faceIsVisible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        }</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      <span class="keywordflow">if</span> (faceIsVisible)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;      {</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        cleaned_mesh.tex_polygons[polygons].push_back (tex_mesh.tex_polygons[polygons][faces]);</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      }</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    }</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  }</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;}</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00539"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#acf6fb14f4d6989c1fee3c2c1b88bf475">  539</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">pcl::TextureMapping&lt;PointInT&gt;::removeOccludedPoints</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, PointCloudPtr &amp;filtered_cloud,</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;                      <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size)</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;{</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  PointCloudPtr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>);</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  <span class="comment">// load points into a PCL format</span></div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  pcl::fromPCLPointCloud2 (tex_mesh.cloud, *cloud);</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160; </div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  std::vector&lt;int&gt; visible, occluded;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  removeOccludedPoints (cloud, filtered_cloud, octree_voxel_size, visible, occluded);</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;}</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00554"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#ac06f666bb26be80837319317f30bfff0">  554</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#ac06f666bb26be80837319317f30bfff0">pcl::TextureMapping&lt;PointInT&gt;::sortFacesByCamera</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;sorted_mesh,</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;                                                  <span class="keyword">const</span> pcl::texture_mapping::CameraVector &amp;cameras, <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size,</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;                                                  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;visible_pts)</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;{</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  <span class="keywordflow">if</span> (tex_mesh.tex_polygons.size () != 1)</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  {</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The mesh must contain only 1 sub-mesh!\n&quot;</span>);</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  }</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="keywordflow">if</span> (cameras.size () == 0)</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  {</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Must provide at least one camera info!\n&quot;</span>);</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  }</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <span class="comment">// copy mesh</span></div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  sorted_mesh = tex_mesh;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  <span class="comment">// clear polygons from cleaned_mesh</span></div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;  sorted_mesh.tex_polygons.clear ();</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160; </div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr original_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr transformed_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr filtered_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  <span class="comment">// load points into a PCL format</span></div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  pcl::fromPCLPointCloud2 (tex_mesh.cloud, *original_cloud);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  <span class="comment">// for each camera</span></div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cam = 0; cam &lt; cameras.size (); ++cam)</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  {</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    <span class="comment">// get camera pose as transform</span></div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    Eigen::Affine3f cam_trans = cameras[cam].pose;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160; </div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <span class="comment">// transform original cloud in camera coordinates</span></div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (*original_cloud, *transformed_cloud, cam_trans.inverse ());</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160; </div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    <span class="comment">// find occlusions on transformed cloud</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;    std::vector&lt;int&gt; visible, occluded;</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;    removeOccludedPoints (transformed_cloud, filtered_cloud, octree_voxel_size, visible, occluded);</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;    visible_pts = *filtered_cloud;</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;    <span class="comment">// find visible faces =&gt; add them to polygon N for camera N</span></div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    <span class="comment">// add polygon group for current camera in clean</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    std::vector&lt;pcl::Vertices&gt; visibleFaces_currentCam;</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    <span class="comment">// iterate over the faces of the current mesh</span></div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> faces = 0; faces &lt; tex_mesh.tex_polygons[0].size (); ++faces)</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;    {</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;      <span class="comment">// check if all the face&#39;s points are visible</span></div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;      <span class="keywordtype">bool</span> faceIsVisible = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;      std::vector&lt;int&gt;::iterator it;</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;      <span class="comment">// iterate over face&#39;s vertex</span></div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> current_pt_indice = 0; faceIsVisible &amp;&amp; current_pt_indice &lt; tex_mesh.tex_polygons[0][faces].vertices.size (); ++current_pt_indice)</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;      {</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;        <span class="comment">// TODO this is far too long! Better create an helper function that raycasts here.</span></div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;        it = find (occluded.begin (), occluded.end (), tex_mesh.tex_polygons[0][faces].vertices[current_pt_indice]);</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160; </div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;        <span class="keywordflow">if</span> (it == occluded.end ())</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;        {</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;          <span class="comment">// point is not occluded</span></div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;          <span class="comment">// does it land on the camera&#39;s image plane?</span></div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;          PointInT pt = transformed_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[tex_mesh.tex_polygons[0][faces].vertices[current_pt_indice]];</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;          Eigen::Vector2f dummy_UV;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;          <span class="keywordflow">if</span> (!getPointUVCoordinates (pt, cameras[cam], dummy_UV))</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;          {</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;            <span class="comment">// point is not visible by the camera</span></div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;            faceIsVisible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;          }</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;        }</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;        {</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;          faceIsVisible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;        }</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      }</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;      <span class="keywordflow">if</span> (faceIsVisible)</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;      {</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        <span class="comment">// push current visible face into the sorted mesh</span></div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;        visibleFaces_currentCam.push_back (tex_mesh.tex_polygons[0][faces]);</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;        <span class="comment">// remove it from the unsorted mesh</span></div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;        tex_mesh.tex_polygons[0].erase (tex_mesh.tex_polygons[0].begin () + faces);</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;        faces--;</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;      }</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160; </div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    }</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    sorted_mesh.tex_polygons.push_back (visibleFaces_currentCam);</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;  }</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160; </div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;  <span class="comment">// we should only have occluded and non-visible faces left in tex_mesh.tex_polygons[0]</span></div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  <span class="comment">// we need to add them as an extra polygon in the sorted mesh</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  sorted_mesh.tex_polygons.push_back (tex_mesh.tex_polygons[0]);</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;  <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;}</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160; </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00651"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#ac440f553e49d9561fb18ba0da27f0faa">  651</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#ac440f553e49d9561fb18ba0da27f0faa">pcl::TextureMapping&lt;PointInT&gt;::showOcclusions</a> (<span class="keyword">const</span> PointCloudPtr &amp;input_cloud,</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;                                               pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr &amp;colored_cloud,</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;                                               <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size, <span class="keyword">const</span> <span class="keywordtype">bool</span> show_nb_occlusions,</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;                                               <span class="keyword">const</span> <span class="keywordtype">int</span> max_occlusions)</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;                                               {</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  <span class="comment">// variable used to filter occluded points by depth</span></div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  <span class="keywordtype">double</span> maxDeltaZ = octree_voxel_size * 2.0;</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160; </div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;  <span class="comment">// create an octree to perform rayTracing</span></div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch&lt;PointInT&gt;</a> *octree;</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  octree = <span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch&lt;PointInT&gt;</a> (octree_voxel_size);</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <span class="comment">// create octree structure</span></div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  octree-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">setInputCloud</a> (input_cloud);</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;  <span class="comment">// update bounding box automatically</span></div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  octree-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">defineBoundingBox</a> ();</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  <span class="comment">// add points in the tree</span></div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  octree-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">addPointsFromInputCloud</a> ();</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160; </div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;  <span class="comment">// ray direction</span></div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;  Eigen::Vector3f direction;</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160; </div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;  std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;  <span class="comment">// point from where we ray-trace</span></div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a> pt;</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160; </div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;  std::vector&lt;double&gt; zDist;</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;  std::vector&lt;double&gt; ptDist;</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;  <span class="comment">// for each point of the cloud, ray-trace toward the camera and check intersected voxels.</span></div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input_cloud-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;  {</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    direction (0) = input_cloud-&gt;points[i].x;</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;    pt.x = input_cloud-&gt;points[i].x;</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    direction (1) = input_cloud-&gt;points[i].y;</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;    pt.y = input_cloud-&gt;points[i].y;</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    direction (2) = input_cloud-&gt;points[i].z;</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    pt.z = input_cloud-&gt;points[i].z;</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160; </div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;    <span class="comment">// get number of occlusions for that point</span></div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    indices.clear ();</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    <span class="keywordtype">int</span> nbocc = octree-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9a4587e573349759836cf8146baeb00b">getIntersectedVoxelIndices</a> (direction, -direction, indices);</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160; </div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    nbocc = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160; </div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    <span class="comment">// TODO need to clean this up and find tricks to get remove aliasaing effect on planes</span></div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; indices.size (); j++)</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    {</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;      <span class="comment">// if intersected point is on the over side of the camera</span></div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;      <span class="keywordflow">if</span> (pt.z * input_cloud-&gt;points[indices[j]].z &lt; 0)</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;      {</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;        nbocc--;</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;      }</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fabs (input_cloud-&gt;points[indices[j]].z - pt.z) &lt;= maxDeltaZ)</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;      {</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;        <span class="comment">// points are very close to each-other, we do not consider the occlusion</span></div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;        nbocc--;</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;      }</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;      {</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;        zDist.push_back (fabs (input_cloud-&gt;points[indices[j]].z - pt.z));</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;        ptDist.push_back (<a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">pcl::euclideanDistance</a> (input_cloud-&gt;points[indices[j]], pt));</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;      }</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;    }</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160; </div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    <span class="keywordflow">if</span> (show_nb_occlusions)</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      (nbocc &lt;= max_occlusions) ? (pt.intensity = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (nbocc)) : (pt.intensity = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max_occlusions));</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;      (nbocc == 0) ? (pt.intensity = 0) : (pt.intensity = 1);</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160; </div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (pt);</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;  }</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160; </div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;  <span class="keywordflow">if</span> (zDist.size () &gt;= 2)</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  {</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;    std::sort (zDist.begin (), zDist.end ());</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;    std::sort (ptDist.begin (), ptDist.end ());</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  }</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;}</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160; </div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00731"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a677f729b4300b423ff407ac8cb48fd81">  731</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#ac440f553e49d9561fb18ba0da27f0faa">pcl::TextureMapping&lt;PointInT&gt;::showOcclusions</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr &amp;colored_cloud,</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;                  <span class="keywordtype">double</span> octree_voxel_size, <span class="keywordtype">bool</span> show_nb_occlusions, <span class="keywordtype">int</span> max_occlusions)</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;{</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;  <span class="comment">// load points into a PCL format</span></div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  pcl::fromPCLPointCloud2 (tex_mesh.cloud, *cloud);</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160; </div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  showOcclusions (cloud, colored_cloud, octree_voxel_size, show_nb_occlusions, max_occlusions);</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;}</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160; </div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00743"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#afd2e4cbe8463c5f18e013c9e84e86c25">  743</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#afd2e4cbe8463c5f18e013c9e84e86c25">pcl::TextureMapping&lt;PointInT&gt;::textureMeshwithMultipleCameras</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;mesh, <span class="keyword">const</span> pcl::texture_mapping::CameraVector &amp;cameras)</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;{</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160; </div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;  <span class="keywordflow">if</span> (mesh.tex_polygons.size () != 1)</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160; </div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr mesh_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160; </div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;  pcl::fromPCLPointCloud2 (mesh.cloud, *mesh_cloud);</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160; </div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;  std::vector&lt;pcl::Vertices&gt; faces;</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160; </div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> current_cam = 0; current_cam &lt; static_cast&lt;int&gt; (cameras.size ()); ++current_cam)</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  {</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;    PCL_INFO (<span class="stringliteral">&quot;Processing camera %d of %d.\n&quot;</span>, current_cam+1, cameras.size ());</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;    </div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;    <span class="comment">// transform mesh into camera&#39;s frame</span></div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr camera_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (*mesh_cloud, *camera_cloud, cameras[current_cam].pose.inverse ());</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160; </div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;    <span class="comment">// CREATE UV MAP FOR CURRENT FACES</span></div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    pcl::PointCloud&lt;pcl::PointXY&gt;::Ptr projections (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXY&gt;</a>);</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;    std::vector&lt;pcl::Vertices&gt;::iterator current_face;</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;    std::vector&lt;bool&gt; visibility;</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;    visibility.resize (mesh.tex_polygons[current_cam].size ());</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    std::vector&lt;UvIndex&gt; indexes_uv_to_points;</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;    <span class="comment">// for each current face</span></div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160; </div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;    <span class="comment">//TODO change this</span></div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> nan_point;</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;    nan_point.x = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;    nan_point.y = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;    <a class="code" href="structpcl_1_1texture__mapping_1_1_uv_index.html">UvIndex</a> u_null;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;    u_null.idx_cloud = -1;</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;    u_null.idx_face = -1;</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160; </div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;    <span class="keywordtype">int</span> cpt_invisible=0;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> idx_face = 0; idx_face &lt;  static_cast&lt;int&gt; (mesh.tex_polygons[current_cam].size ()); ++idx_face)</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;    {</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;      <span class="comment">//project each vertice, if one is out of view, stop</span></div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> uv_coord1;</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> uv_coord2;</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> uv_coord3;</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160; </div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;      <span class="keywordflow">if</span> (isFaceProjected (cameras[current_cam],</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;                           camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[current_cam][idx_face].vertices[0]],</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;                           camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[current_cam][idx_face].vertices[1]],</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;                           camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[current_cam][idx_face].vertices[2]],</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;                           uv_coord1,</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;                           uv_coord2,</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;                           uv_coord3))</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;       {</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;        <span class="comment">// face is in the camera&#39;s FOV</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160; </div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;        <span class="comment">// add UV coordinates</span></div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;        projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (uv_coord1);</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;        projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (uv_coord2);</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;        projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (uv_coord3);</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160; </div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;        <span class="comment">// remember corresponding face</span></div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        <a class="code" href="structpcl_1_1texture__mapping_1_1_uv_index.html">UvIndex</a> u1, u2, u3;</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        u1.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[0];</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        u2.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[1];</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;        u3.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[2];</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        u1.idx_face = idx_face; u2.idx_face = idx_face; u3.idx_face = idx_face;</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;        indexes_uv_to_points.push_back (u1);</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;        indexes_uv_to_points.push_back (u2);</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;        indexes_uv_to_points.push_back (u3);</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160; </div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        <span class="comment">//keep track of visibility</span></div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        visibility[idx_face] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;      }</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;      {</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;        projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (nan_point);</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;        projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (nan_point);</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;        projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (nan_point);</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;        indexes_uv_to_points.push_back (u_null);</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;        indexes_uv_to_points.push_back (u_null);</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;        indexes_uv_to_points.push_back (u_null);</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;        <span class="comment">//keep track of visibility</span></div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;        visibility[idx_face] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;        cpt_invisible++;</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;      }</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;    }</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160; </div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;    <span class="comment">// projections contains all UV points of the current faces</span></div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;    <span class="comment">// indexes_uv_to_points links a uv point to its point in the camera cloud</span></div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;    <span class="comment">// visibility contains tells if a face was in the camera FOV (false = skip)</span></div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160; </div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;    <span class="comment">// TODO handle case were no face could be projected</span></div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;    <span class="keywordflow">if</span> (visibility.size () - cpt_invisible !=0)</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;    {</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;        <span class="comment">//create kdtree</span></div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN&lt;pcl::PointXY&gt;</a> kdtree;</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;        kdtree.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aba28a792bf0c2026aa0a6a99ed3e32ec">setInputCloud</a> (projections);</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160; </div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;        std::vector&lt;int&gt; idxNeighbors;</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;        std::vector&lt;float&gt; neighborsSquaredDistance;</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;        <span class="comment">// af first (idx_pcan &lt; current_cam), check if some of the faces attached to previous cameras occlude the current faces</span></div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;        <span class="comment">// then (idx_pcam == current_cam), check for self occlusions. At this stage, we skip faces that were already marked as occluded</span></div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;        cpt_invisible = 0;</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> idx_pcam = 0 ; idx_pcam &lt;= current_cam ; ++idx_pcam)</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;        {</div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;          <span class="comment">// project all faces</span></div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> idx_face = 0; idx_face &lt;  static_cast&lt;int&gt; (mesh.tex_polygons[idx_pcam].size ()); ++idx_face)</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;          {</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160; </div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;            <span class="keywordflow">if</span> (idx_pcam == current_cam &amp;&amp; !visibility[idx_face])</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;            {</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;              <span class="comment">// we are now checking for self occlusions within the current faces</span></div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;              <span class="comment">// the current face was already declared as occluded.</span></div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;              <span class="comment">// therefore, it cannot occlude another face anymore =&gt; we skip it</span></div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;              <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;            }</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160; </div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;            <span class="comment">// project each vertice, if one is out of view, stop</span></div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> uv_coord1;</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> uv_coord2;</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> uv_coord3;</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160; </div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;            <span class="keywordflow">if</span> (isFaceProjected (cameras[current_cam],</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;                                 camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[idx_pcam][idx_face].vertices[0]],</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;                                 camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[idx_pcam][idx_face].vertices[1]],</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;                                 camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[idx_pcam][idx_face].vertices[2]],</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;                                 uv_coord1,</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;                                 uv_coord2,</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;                                 uv_coord3))</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;             {</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;              <span class="comment">// face is in the camera&#39;s FOV</span></div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;              <span class="comment">//get its circumsribed circle</span></div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;              <span class="keywordtype">double</span> radius;</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;              <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> center;</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;              <span class="comment">// getTriangleCircumcenterAndSize (uv_coord1, uv_coord2, uv_coord3, center, radius);</span></div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;              getTriangleCircumcscribedCircleCentroid(uv_coord1, uv_coord2, uv_coord3, center, radius); <span class="comment">// this function yields faster results than getTriangleCircumcenterAndSize</span></div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160; </div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;              <span class="comment">// get points inside circ.circle</span></div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;              <span class="keywordflow">if</span> (kdtree.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ab598d8e1220f1292b938e3a66f1ec370">radiusSearch</a> (center, radius, idxNeighbors, neighborsSquaredDistance) &gt; 0 )</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;              {</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;                <span class="comment">// for each neighbor</span></div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; idxNeighbors.size (); ++i)</div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;                {</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;                  <span class="keywordflow">if</span> (std::max (camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[idx_pcam][idx_face].vertices[0]].z,</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;                                std::max (camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[idx_pcam][idx_face].vertices[1]].z, </div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;                                          camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[mesh.tex_polygons[idx_pcam][idx_face].vertices[2]].z))</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;                     &lt; camera_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indexes_uv_to_points[idxNeighbors[i]].idx_cloud].z)</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;                  {</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;                    <span class="comment">// neighbor is farther than all the face&#39;s points. Check if it falls into the triangle</span></div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;                    <span class="keywordflow">if</span> (checkPointInsideTriangle(uv_coord1, uv_coord2, uv_coord3, projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idxNeighbors[i]]))</div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;                    {</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;                      <span class="comment">// current neighbor is inside triangle and is closer =&gt; the corresponding face</span></div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;                      visibility[indexes_uv_to_points[idxNeighbors[i]].idx_face] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;                      cpt_invisible++;</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;                      <span class="comment">//TODO we could remove the projections of this face from the kd-tree cloud, but I fond it slower, and I need the point to keep ordered to querry UV coordinates later</span></div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;                    }</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;                  }</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;                }</div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;              }</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;             }</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;          }</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;        }</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;    }</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160; </div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;    <span class="comment">// now, visibility is true for each face that belongs to the current camera</span></div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;    <span class="comment">// if a face is not visible, we push it into the next one.</span></div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160; </div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;    <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (mesh.tex_coordinates.size ()) &lt;= current_cam)</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;    {</div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;      std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; dummy_container;</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;      mesh.tex_coordinates.push_back (dummy_container);</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;    }</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;    mesh.tex_coordinates[current_cam].resize (3 * visibility.size ());</div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160; </div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;    std::vector&lt;pcl::Vertices&gt; occluded_faces;</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;    occluded_faces.resize (visibility.size ());</div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;    std::vector&lt;pcl::Vertices&gt; visible_faces;</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;    visible_faces.resize (visibility.size ());</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160; </div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;    <span class="keywordtype">int</span> cpt_occluded_faces = 0;</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;    <span class="keywordtype">int</span> cpt_visible_faces = 0;</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160; </div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx_face = 0 ; idx_face &lt; visibility.size () ; ++idx_face)</div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;    {</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;      <span class="keywordflow">if</span> (visibility[idx_face])</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;      {</div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;        <span class="comment">// face is visible by the current camera copy UV coordinates</span></div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;        mesh.tex_coordinates[current_cam][cpt_visible_faces * 3](0) = projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx_face*3].x;</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;        mesh.tex_coordinates[current_cam][cpt_visible_faces * 3](1) = projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx_face*3].y;</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160; </div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;        mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 1](0) = projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx_face*3 + 1].x;</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;        mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 1](1) = projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx_face*3 + 1].y;</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160; </div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;        mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 2](0) = projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx_face*3 + 2].x;</div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;        mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 2](1) = projections-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx_face*3 + 2].y;</div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160; </div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;        visible_faces[cpt_visible_faces] = mesh.tex_polygons[current_cam][idx_face];</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160; </div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;        cpt_visible_faces++;</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;      }</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;      {</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;        <span class="comment">// face is occluded copy face into temp vector</span></div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;        occluded_faces[cpt_occluded_faces] = mesh.tex_polygons[current_cam][idx_face];</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;        cpt_occluded_faces++;</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;      }</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;    }</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;    mesh.tex_coordinates[current_cam].resize (cpt_visible_faces*3);</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160; </div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;    occluded_faces.resize (cpt_occluded_faces);</div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;    mesh.tex_polygons.push_back (occluded_faces);</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160; </div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;    visible_faces.resize (cpt_visible_faces);</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;    mesh.tex_polygons[current_cam].clear ();</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;    mesh.tex_polygons[current_cam] = visible_faces;</div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160; </div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;    <span class="keywordtype">int</span> nb_faces = 0;</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; static_cast&lt;int&gt; (mesh.tex_polygons.size ()); i++)</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;      nb_faces += <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (mesh.tex_polygons[i].size ());</div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;  }</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160; </div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;  <span class="comment">// we have been through all the cameras.</span></div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;  <span class="comment">// if any faces are left, they were not visible by any camera</span></div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;  <span class="comment">// we still need to produce uv coordinates for them</span></div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160; </div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;  <span class="keywordflow">if</span> (mesh.tex_coordinates.size() &lt;= cameras.size ())</div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;  {</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;   std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; dummy_container;</div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;   mesh.tex_coordinates.push_back(dummy_container);</div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;   }</div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160; </div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160; </div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> idx_face = 0 ; idx_face &lt; mesh.tex_polygons[cameras.size()].size() ; ++idx_face)</div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;  {</div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;    Eigen::Vector2f UV1, UV2, UV3;</div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;    UV1(0) = -1.0; UV1(1) = -1.0;</div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;    UV2(0) = -1.0; UV2(1) = -1.0;</div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;    UV3(0) = -1.0; UV3(1) = -1.0;</div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;    mesh.tex_coordinates[cameras.size()].push_back(UV1);</div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;    mesh.tex_coordinates[cameras.size()].push_back(UV2);</div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;    mesh.tex_coordinates[cameras.size()].push_back(UV3);</div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;  }</div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160; </div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;}</div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160; </div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00989"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#ac2b1de77bab539d4fd9045b8ae9a2a03">  989</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#ac2b1de77bab539d4fd9045b8ae9a2a03">pcl::TextureMapping&lt;PointInT&gt;::getTriangleCircumcenterAndSize</a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p2, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p3, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;circomcenter, <span class="keywordtype">double</span> &amp;radius)</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;{</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;  <span class="comment">// we simplify the problem by translating the triangle&#39;s origin to its first point</span></div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> ptB, ptC;</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;  ptB.x = p2.x - p1.x; ptB.y = p2.y - p1.y; <span class="comment">// B&#39;=B-A</span></div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;  ptC.x = p3.x - p1.x; ptC.y = p3.y - p1.y; <span class="comment">// C&#39;=C-A</span></div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160; </div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;  <span class="keywordtype">double</span> D = 2.0*(ptB.x*ptC.y - ptB.y*ptC.x); <span class="comment">// D&#39;=2(B&#39;x*C&#39;y - B&#39;y*C&#39;x)</span></div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160; </div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;  <span class="comment">// Safety check to avoid division by zero</span></div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;  <span class="keywordflow">if</span>(D == 0)</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;  {</div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;    circomcenter.x = p1.x;</div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;    circomcenter.y = p1.y;</div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;  }</div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;  {</div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;    <span class="comment">// compute squares once</span></div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;    <span class="keywordtype">double</span> bx2 = ptB.x * ptB.x; <span class="comment">// B&#39;x^2</span></div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;    <span class="keywordtype">double</span> by2 = ptB.y * ptB.y; <span class="comment">// B&#39;y^2</span></div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;    <span class="keywordtype">double</span> cx2 = ptC.x * ptC.x; <span class="comment">// C&#39;x^2</span></div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;    <span class="keywordtype">double</span> cy2 = ptC.y * ptC.y; <span class="comment">// C&#39;y^2</span></div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160; </div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;    <span class="comment">// compute circomcenter&#39;s coordinates (translate back to original coordinates)</span></div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;    circomcenter.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p1.x + (ptC.y*(bx2 + by2) - ptB.y*(cx2 + cy2)) / D);</div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;    circomcenter.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p1.y + (ptB.x*(cx2 + cy2) - ptC.x*(bx2 + by2)) / D);</div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;  }</div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160; </div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;  radius = sqrt( (circomcenter.x - p1.x)*(circomcenter.x - p1.x)  + (circomcenter.y - p1.y)*(circomcenter.y - p1.y));<span class="comment">//2.0* (p1.x*(p2.y - p3.y)  + p2.x*(p3.y - p1.y) + p3.x*(p1.y - p2.y));</span></div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;}</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160; </div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l01022"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a38629b0142eda69ab2f18676017a60f6"> 1022</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a38629b0142eda69ab2f18676017a60f6">pcl::TextureMapping&lt;PointInT&gt;::getTriangleCircumcscribedCircleCentroid</a> ( <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p2, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p3, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;circumcenter, <span class="keywordtype">double</span> &amp;radius)</div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;{</div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;  <span class="comment">// compute centroid&#39;s coordinates (translate back to original coordinates)</span></div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;  circumcenter.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p1.x + p2.x + p3.x ) / 3;</div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;  circumcenter.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p1.y + p2.y + p3.y ) / 3;</div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;  <span class="keywordtype">double</span> r1 = (circumcenter.x - p1.x) * (circumcenter.x - p1.x) + (circumcenter.y - p1.y) * (circumcenter.y - p1.y)  ;</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;  <span class="keywordtype">double</span> r2 = (circumcenter.x - p2.x) * (circumcenter.x - p2.x) + (circumcenter.y - p2.y) * (circumcenter.y - p2.y)  ;</div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;  <span class="keywordtype">double</span> r3 = (circumcenter.x - p3.x) * (circumcenter.x - p3.x) + (circumcenter.y - p3.y) * (circumcenter.y - p3.y)  ;</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160; </div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;  <span class="comment">// radius</span></div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;  radius = std::sqrt( std::max( r1, std::max( r2, r3) )) ;</div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;}</div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160; </div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160; </div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01038"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a8eddf168d0dd4929191126f9a73a9ed0"> 1038</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a183d45e708fa4aaf6d5e2e898c5cf1ec">pcl::TextureMapping&lt;PointInT&gt;::getPointUVCoordinates</a>(<span class="keyword">const</span> PointInT &amp;pt, <span class="keyword">const</span> <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a> &amp;cam, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;UV_coordinates)</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;{</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;  <span class="keywordflow">if</span> (pt.z &gt; 0)</div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;  {</div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;    <span class="comment">// compute image center and dimension</span></div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;    <span class="keywordtype">double</span> sizeX = cam.width;</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;    <span class="keywordtype">double</span> sizeY = cam.height;</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;    <span class="keywordtype">double</span> cx, cy;</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;    <span class="keywordflow">if</span> (cam.center_w &gt; 0)</div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;      cx = cam.center_w;</div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;      cx = sizeX / 2.0;</div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;    <span class="keywordflow">if</span> (cam.center_h &gt; 0)</div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;      cy = cam.center_h;</div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;      cy = sizeY / 2.0;</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160; </div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;    <span class="keywordtype">double</span> focal_x, focal_y; </div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;    <span class="keywordflow">if</span> (cam.focal_length_w &gt; 0)</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;      focal_x = cam.focal_length_w;</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;      focal_x = cam.focal_length;</div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;    <span class="keywordflow">if</span> (cam.focal_length_h &gt; 0)</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;      focal_y = cam.focal_length_h;</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;      focal_y = cam.focal_length;</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160; </div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;    <span class="comment">// project point on camera&#39;s image plane</span></div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;    UV_coordinates.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((focal_x * (pt.x / pt.z) + cx) / sizeX); <span class="comment">//horizontal</span></div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;    UV_coordinates.y = 1.0f - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((focal_y * (pt.y / pt.z) + cy) / sizeY); <span class="comment">//vertical</span></div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160; </div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;    <span class="comment">// point is visible!</span></div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;    <span class="keywordflow">if</span> (UV_coordinates.x &gt;= 0.0 &amp;&amp; UV_coordinates.x &lt;= 1.0 &amp;&amp; UV_coordinates.y &gt;= 0.0 &amp;&amp; UV_coordinates.y &lt;= 1.0)</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">true</span>); <span class="comment">// point was visible by the camera</span></div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;  }</div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160; </div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;  <span class="comment">// point is NOT visible by the camera</span></div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;  UV_coordinates.x = -1.0f;</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;  UV_coordinates.y = -1.0f;</div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">false</span>); <span class="comment">// point was not visible by the camera</span></div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;}</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160; </div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01082"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a993ae9f20e030ee9cda61e5f5f48075c"> 1082</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a993ae9f20e030ee9cda61e5f5f48075c">pcl::TextureMapping&lt;PointInT&gt;::checkPointInsideTriangle</a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p2, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p3, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;pt)</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;{</div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;   <span class="comment">// Compute vectors</span></div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;   Eigen::Vector2d v0, v1, v2;</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;   v0(0) = p3.x - p1.x; v0(1) = p3.y - p1.y; <span class="comment">// v0= C - A</span></div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;   v1(0) = p2.x - p1.x; v1(1) = p2.y - p1.y; <span class="comment">// v1= B - A</span></div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;   v2(0) = pt.x - p1.x; v2(1) = pt.y - p1.y; <span class="comment">// v2= P - A</span></div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160; </div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;   <span class="comment">// Compute dot products</span></div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;   <span class="keywordtype">double</span> dot00 = v0.dot(v0); <span class="comment">// dot00 = dot(v0, v0)</span></div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;   <span class="keywordtype">double</span> dot01 = v0.dot(v1); <span class="comment">// dot01 = dot(v0, v1)</span></div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;   <span class="keywordtype">double</span> dot02 = v0.dot(v2); <span class="comment">// dot02 = dot(v0, v2)</span></div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;   <span class="keywordtype">double</span> dot11 = v1.dot(v1); <span class="comment">// dot11 = dot(v1, v1)</span></div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;   <span class="keywordtype">double</span> dot12 = v1.dot(v2); <span class="comment">// dot12 = dot(v1, v2)</span></div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160; </div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;   <span class="comment">// Compute barycentric coordinates</span></div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;   <span class="keywordtype">double</span> invDenom = 1.0 / (dot00*dot11 - dot01*dot01);</div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;   <span class="keywordtype">double</span> u = (dot11*dot02 - dot01*dot12) * invDenom;</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;   <span class="keywordtype">double</span> v = (dot00*dot12 - dot01*dot02) * invDenom;</div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160; </div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;   <span class="comment">// Check if point is in triangle</span></div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;   <span class="keywordflow">return</span> ((u &gt;= 0) &amp;&amp; (v &gt;= 0) &amp;&amp; (u + v &lt; 1));</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;}</div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160; </div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01108"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a9aa4543f638fb7530cf94f0f266ddab2"> 1108</a></span>&#160;<a class="code" href="classpcl_1_1_texture_mapping.html#a9aa4543f638fb7530cf94f0f266ddab2">pcl::TextureMapping&lt;PointInT&gt;::isFaceProjected</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a> &amp;camera, <span class="keyword">const</span> PointInT &amp;p1, <span class="keyword">const</span> PointInT &amp;p2, <span class="keyword">const</span> PointInT &amp;p3, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;proj1, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;proj2, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;proj3)</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;{</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;  <span class="keywordflow">return</span> (getPointUVCoordinates(p1, camera, proj1)</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;      &amp;&amp;</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;      getPointUVCoordinates(p2, camera, proj2)</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;      &amp;&amp;</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;      getPointUVCoordinates(p3, camera, proj3)</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;  );</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;}</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160; </div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_TextureMapping(T)                \</span></div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;<span class="preprocessor">    template class PCL_EXPORTS pcl::TextureMapping&lt;T&gt;;</span></div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160; </div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* TEXTURE_MAPPING_HPP_ */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN</a></div><div class="ttdoc">KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures. The class is making use...</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_ab598d8e1220f1292b938e3a66f1ec370"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ab598d8e1220f1292b938e3a66f1ec370">pcl::KdTreeFLANN::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_aba28a792bf0c2026aa0a6a99ed3e32ec"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aba28a792bf0c2026aa0a6a99ed3e32ec">pcl::KdTreeFLANN::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a183d45e708fa4aaf6d5e2e898c5cf1ec"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a183d45e708fa4aaf6d5e2e898c5cf1ec">pcl::TextureMapping::getPointUVCoordinates</a></div><div class="ttdeci">bool getPointUVCoordinates(const PointInT &amp;pt, const Camera &amp;cam, Eigen::Vector2f &amp;UV_coordinates)</div><div class="ttdoc">computes UV coordinates of point, observed by one particular camera</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a24745f8647a7442647ba6be0a89abae0"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a24745f8647a7442647ba6be0a89abae0">pcl::TextureMapping::mapTexture2MeshUV</a></div><div class="ttdeci">void mapTexture2MeshUV(pcl::TextureMesh &amp;tex_mesh)</div><div class="ttdoc">Map texture to a mesh UV mapping</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:200</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a2dfb6a986d530ec88fecd432cfeac159"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a2dfb6a986d530ec88fecd432cfeac159">pcl::TextureMapping::mapTexture2Mesh</a></div><div class="ttdeci">void mapTexture2Mesh(pcl::TextureMesh &amp;tex_mesh)</div><div class="ttdoc">Map texture to a mesh synthesis algorithm</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:144</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a38629b0142eda69ab2f18676017a60f6"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a38629b0142eda69ab2f18676017a60f6">pcl::TextureMapping::getTriangleCircumcscribedCircleCentroid</a></div><div class="ttdeci">void getTriangleCircumcscribedCircleCentroid(const pcl::PointXY &amp;p1, const pcl::PointXY &amp;p2, const pcl::PointXY &amp;p3, pcl::PointXY &amp;circumcenter, double &amp;radius)</div><div class="ttdoc">Returns the centroid of a triangle and the corresponding circumscribed circle's radius.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:1022</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a668faabadd56405940c58e37f30e357f"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a668faabadd56405940c58e37f30e357f">pcl::TextureMapping::isPointOccluded</a></div><div class="ttdeci">bool isPointOccluded(const PointInT &amp;pt, const OctreePtr octree)</div><div class="ttdoc">Check if a point is occluded using raycasting on octree.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:377</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a993ae9f20e030ee9cda61e5f5f48075c"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a993ae9f20e030ee9cda61e5f5f48075c">pcl::TextureMapping::checkPointInsideTriangle</a></div><div class="ttdeci">bool checkPointInsideTriangle(const pcl::PointXY &amp;p1, const pcl::PointXY &amp;p2, const pcl::PointXY &amp;p3, const pcl::PointXY &amp;pt)</div><div class="ttdoc">Returns True if a point lays within a triangle</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:1082</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a9aa4543f638fb7530cf94f0f266ddab2"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a9aa4543f638fb7530cf94f0f266ddab2">pcl::TextureMapping::isFaceProjected</a></div><div class="ttdeci">bool isFaceProjected(const Camera &amp;camera, const PointInT &amp;p1, const PointInT &amp;p2, const PointInT &amp;p3, pcl::PointXY &amp;proj1, pcl::PointXY &amp;proj2, pcl::PointXY &amp;proj3)</div><div class="ttdoc">Returns true if all the vertices of one face are projected on the camera's image plane.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:1108</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a9b7b447112268bd059e798397b991ad5"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">pcl::TextureMapping::removeOccludedPoints</a></div><div class="ttdeci">void removeOccludedPoints(const PointCloudPtr &amp;input_cloud, PointCloudPtr &amp;filtered_cloud, const double octree_voxel_size, std::vector&lt; int &gt; &amp;visible_indices, std::vector&lt; int &gt; &amp;occluded_indices)</div><div class="ttdoc">Remove occluded points from a point cloud</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:419</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ab39c3bef6cc6df60c12e295da9d1a3f7"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ab39c3bef6cc6df60c12e295da9d1a3f7">pcl::TextureMapping::mapTexture2Face</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector2f, Eigen::aligned_allocator&lt; Eigen::Vector2f &gt; &gt; mapTexture2Face(const Eigen::Vector3f &amp;p1, const Eigen::Vector3f &amp;p2, const Eigen::Vector3f &amp;p3)</div><div class="ttdoc">Map texture to a face</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ac06f666bb26be80837319317f30bfff0"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ac06f666bb26be80837319317f30bfff0">pcl::TextureMapping::sortFacesByCamera</a></div><div class="ttdeci">int sortFacesByCamera(pcl::TextureMesh &amp;tex_mesh, pcl::TextureMesh &amp;sorted_mesh, const pcl::texture_mapping::CameraVector &amp;cameras, const double octree_voxel_size, PointCloud &amp;visible_pts)</div><div class="ttdoc">Segment faces by camera visibility. Point-based segmentation.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:554</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ac2b1de77bab539d4fd9045b8ae9a2a03"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ac2b1de77bab539d4fd9045b8ae9a2a03">pcl::TextureMapping::getTriangleCircumcenterAndSize</a></div><div class="ttdeci">void getTriangleCircumcenterAndSize(const pcl::PointXY &amp;p1, const pcl::PointXY &amp;p2, const pcl::PointXY &amp;p3, pcl::PointXY &amp;circumcenter, double &amp;radius)</div><div class="ttdoc">Returns the circumcenter of a triangle and the circle's radius.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:989</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ac440f553e49d9561fb18ba0da27f0faa"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ac440f553e49d9561fb18ba0da27f0faa">pcl::TextureMapping::showOcclusions</a></div><div class="ttdeci">void showOcclusions(const PointCloudPtr &amp;input_cloud, pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;colored_cloud, const double octree_voxel_size, const bool show_nb_occlusions=true, const int max_occlusions=4)</div><div class="ttdoc">Colors a point cloud, depending on its occlusions.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:651</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ae6e358a02f339cbf136db601bbdafc1d"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ae6e358a02f339cbf136db601bbdafc1d">pcl::TextureMapping::mapMultipleTexturesToMeshUV</a></div><div class="ttdeci">void mapMultipleTexturesToMeshUV(pcl::TextureMesh &amp;tex_mesh, pcl::texture_mapping::CameraVector &amp;cams)</div><div class="ttdoc">Map textures acquired from a set of cameras onto a mesh.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:287</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_afd2e4cbe8463c5f18e013c9e84e86c25"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#afd2e4cbe8463c5f18e013c9e84e86c25">pcl::TextureMapping::textureMeshwithMultipleCameras</a></div><div class="ttdeci">void textureMeshwithMultipleCameras(pcl::TextureMesh &amp;mesh, const pcl::texture_mapping::CameraVector &amp;cameras)</div><div class="ttdoc">Segment and texture faces by camera visibility. Face-based segmentation.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:743</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a7bc46426ce1b55cfd0a32063ada08613"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">pcl::octree::OctreePointCloud::defineBoundingBox</a></div><div class="ttdeci">void defineBoundingBox()</div><div class="ttdoc">Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:265</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a87cad20428de876fcf789e674a39f503"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">pcl::octree::OctreePointCloud::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud_arg, const IndicesConstPtr &amp;indices_arg=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input data set.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac477d9477e781d980709b1e8886d2c7c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">pcl::octree::OctreePointCloud::addPointsFromInputCloud</a></div><div class="ttdeci">void addPointsFromInputCloud()</div><div class="ttdoc">Add points from input point cloud to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a></div><div class="ttdoc">Octree pointcloud search class</div><div class="ttdef"><b>Definition:</b> octree_search.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a9a4587e573349759836cf8146baeb00b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9a4587e573349759836cf8146baeb00b">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelIndices</a></div><div class="ttdeci">int getIntersectedVoxelIndices(Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector&lt; int &gt; &amp;k_indices, int max_voxel_count=0) const</div><div class="ttdoc">Get indices of all voxels that are intersected by a ray (origin, direction).</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:608</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html">distances.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html_a73e1d23717813eb053a0eb51411a4a23"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">pcl::euclideanDistance</a></div><div class="ttdeci">float euclideanDistance(const PointType1 &amp;p1, const PointType2 &amp;p2)</div><div class="ttdoc">Calculate the euclidean distance between the two given points.</div><div class="ttdef"><b>Definition:</b> distances.h:196</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_html"><div class="ttname"><a href="structpcl_1_1_point_x_y.html">pcl::PointXY</a></div><div class="ttdoc">A 2D point structure representing Euclidean xy coordinates.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:720</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a></div><div class="ttdef"><b>Definition:</b> point_types.hpp:452</div></div>
<div class="ttc" id="astructpcl_1_1_texture_mesh_html"><div class="ttname"><a href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a></div><div class="ttdef"><b>Definition:</b> TextureMesh.h:92</div></div>
<div class="ttc" id="astructpcl_1_1texture__mapping_1_1_camera_html"><div class="ttname"><a href="structpcl_1_1texture__mapping_1_1_camera.html">pcl::texture_mapping::Camera</a></div><div class="ttdoc">Structure to store camera pose and focal length.</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:64</div></div>
<div class="ttc" id="astructpcl_1_1texture__mapping_1_1_uv_index_html"><div class="ttname"><a href="structpcl_1_1texture__mapping_1_1_uv_index.html">pcl::texture_mapping::UvIndex</a></div><div class="ttdoc">Structure that links a uv coordinate to its 3D point and face.</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:83</div></div>
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